CN105619402B - Joint type industrial robot - Google Patents
Joint type industrial robot Download PDFInfo
- Publication number
- CN105619402B CN105619402B CN201610153205.2A CN201610153205A CN105619402B CN 105619402 B CN105619402 B CN 105619402B CN 201610153205 A CN201610153205 A CN 201610153205A CN 105619402 B CN105619402 B CN 105619402B
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- CN
- China
- Prior art keywords
- flange
- industrial robot
- joint type
- type industrial
- bolt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention provides a kind of joint type industrial robot, servomotor including the rocking bar with mounting flange, positioned at the mounting flange side, the RV E reductors positioned at the mounting flange away from the side of the servomotor, the RV E reductors have the spacer flanger that can be fixedly connected with the mounting flange, and the joint type industrial robot also includes the adapter flange for connecting the spacer flanger and the RV E reductors.The joint type industrial robot of the present invention, by the way that provided with adapter flange, the installation of servomotor can be facilitated while RV E reductors are connected, the adapter flange provides possibility for setting lubricating cavity in addition.
Description
Technical field
The present invention relates to joint type industrial robot manufacturing field, more particularly at a kind of second joint RV-E reductors and
Servomotor joint type industrial robot easy to connect.
Background technology
In joint type industrial robot body construction, the both sides of second joint position rocking bar/or lumbar are respectively required for
Connect servomotor and RV-E reductors；Wherein servomotor inputs to the power of second joint, and driving large arm is with top
Part and load；For RV-E reductors to transmit the power of servomotor input, playing a part of slowing down increases square.
At present, the spacer flanger of RV-E reductors is connected firmly from the mounting flange of rocking bar, it is necessary to which two groups of nominal diameters are different
Bolt is screwed into around spacer flanger/screwed hole corresponding to 120 ° of symmetrical two group of mounting flange face axis respectively（Such as Fig. 9 institutes
Show）.The central distribution circular diameter of two groups of screwed holes is different, and the pitch circle diameter in major thread hole is less than the distribution circle of minor thread hole directly
Footpath, this result in fasten RV-E reductors completely just must be more not from the opposite side usage quantity of the mounting flange of rocking bar
The bolt of same specification is tightened, and nut occupies mounting flange face larger area, causes servomotor can not be mounted directly using bolt.
In addition, when RV-E reductors are connected by above-mentioned spacer flanger with servomotor, although servo motor output shaft is not
Need to engage with the planetary gearsets of RV-E reductors through whole reductor, servomotor input shaft is shorter, assembling
Rigidity is good, but causes do not have lubricating cavity of the sufficiently large volume as supplemental lubrication fat at the high-speed gear pair meshing point.
In view of this, it is necessary to provide a kind of joint type industrial robot to solve the above problems.
The content of the invention
It is an object of the invention to provide the joint that RV-E reductors at a kind of second joint and servomotor are easy to connect
Type industrial robot.
For achieving the above object, the invention provides a kind of joint type industrial robot, including with mounting flange
Rocking bar, the servomotor positioned at the mounting flange side, positioned at the mounting flange deviate from the servomotor side
RV-E reductors, the RV-E reductors have the spacer flanger that can be fixedly connected with the mounting flange, the joint
Type industrial robot also includes the adapter flange for connecting the spacer flanger and the RV-E reductors；The adapter flange includes
Ring flange, positioned at the ring flange side to the first end, relative with the first end that is connected with the spacer flanger
To be connected with servomotor the second end, positioned at the ring flange center and along the adapter flange axially through
Connecting hole, on the ring flange to be connected with the spacer flanger some first fixing holes, positioned at the flange
Some second fixing holes on disk to be connected with the servomotor；Second fixing hole is between first fixing hole
Between the connecting hole；The adapter flange also has to be determined to position the mounting flange with the first of the adapter flange
Position part；The side of first keeper protrudes outward from the first end to away from the direction at second end, opposite side position
Second end it is not through in the inside of the adapter flange and.
As a further improvement on the present invention, the joint type industrial robot is also included to connect the switching method
First bolt of blue, described mounting flange and the spacer flanger, first fixing hole match with first bolt and
First fixing hole along the adapter flange axially through.
As a further improvement on the present invention, the joint type industrial robot is also included to connect the mounting flange
With the second bolt of the spacer flanger, after the mounting flange connects firmly with the spacer flanger, the distribution of second bolt
Circular diameter is less than the pitch circle diameter of the first bolt.
As a further improvement on the present invention, after the mounting flange connects firmly with the spacer flanger, second bolt
Nut be located at the side that the mounting flange deviates from the spacer flanger, the first end have be used to stepping down or house it is described
The avoid holes of the nut of second bolt, the avoid holes are not through to second concave end but described from the first end
Second end.
As a further improvement on the present invention, second fixing hole is from second end to first concave end but simultaneously
The first end is not through to.
As a further improvement on the present invention, the adapter flange, which also has, connects the ring flange outer circumferential side and the appearance
Receive note/row's fat hole of chamber, the seal from note described in the side seal of the ring flange periphery/row's fat hole.
As a further improvement on the present invention, the note/being noted including spaced through type in row's fat hole/arranges fat hole and folding
Fat hole is noted/arranged to curved formula.
As a further improvement on the present invention, the adapter flange also includes from second end to first concave end
Formed to position the second keeper of the servomotor and the adapter flange.
The beneficial effects of the invention are as follows：Joint type industrial robot of the present invention, by that provided with adapter flange, can connect
While RV-E reductors, facilitate the installation of servomotor, the adapter flange provides possibility for setting lubricating cavity in addition.
Brief description of the drawings
Fig. 1 is the structural representation of the joint type industrial robot second joint of the present invention.
Fig. 2 is sectional view of the joint type industrial robot second joint along A-A directions shown in Fig. 1.
Fig. 3 is joint type industrial robot second joint shown in Fig. 1 in the exploded view of another angle.
Fig. 4 is the stereogram of the adapter flange at the joint type industrial robot second joint shown in Fig. 1.
Fig. 5 is adapter flange shown in Fig. 4 in the stereogram of another angle.
Fig. 6 is the structural representation of the first end of the adapter flange shown in Fig. 4.
Fig. 7 is sectional view of the adapter flange along B-B directions shown in Fig. 6.
Fig. 8 is sectional view of the adapter flange along C-C directions shown in Fig. 6.
Fig. 9 be existing RV-E reductors spacer flanger and rocking bar mounting flange assembling schematic diagram.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.
Refer to shown in Fig. 1 ~ Fig. 8, the second joint 100 of joint type industrial robot includes：Front portion has mounting flange
11 rocking bar 10, the servomotor 20 positioned at the side of mounting flange 11, positioned at the mounting flange 11 with respect to opposite side
The adapter flange 40 of RV-E reductors 30, the connection servomotor 20 and the RV-E reductors 30.
The centre of the mounting flange 11 be along the mounting flange 11 axially through middle through hole（Non- label）, it is described to watch
Take the output shaft of motor 20（Non- label）It is connected through the middle through hole with the RV-E reductors 30；Further, it is described defeated
Sprocket drive spindle is assembled on shaft, the output shaft is coordinated by the planetary gearsets of the gear shaft and the RV-E reductors 30
Connection.
RV-E reductors 30 are conventional reductor, have the intermediate method that can be fixedly connected with the mounting flange 11
It is blue；RV-E reductors 30 are connected with the mounting flange 11 and the adapter flange 40 simultaneously by spacer flanger.Therefore, it is described
Adapter flange 40 is substantially to connect the spacer flanger and the servomotor 20.
Wherein, the mounting flange 11 and the spacer flanger pass through some first bolts 50 of minor diameter, major diameter
Totally two groups of bolts are connected some second bolts 60；The diameter of first bolt 50 is less than the diameter of second bolt 60,
And the specification of first bolt 50 and second bolt 60 is determined by the size of the screwed hole on the spacer flanger.
After the mounting flange 11 connects firmly with the spacer flanger, the pitch circle diameter of second bolt 60 is less than first
The pitch circle diameter of bolt 50, namely some rows of second bolt 60 are located at some inner sides of first bolt 50.Some institutes
State the first bolt 50 and be divided into some groups, the first bolt 50 is arranged at intervals on same circle described in some groups；Correspondingly, it is some
Second bolt 60 is also divided into some groups, and the second bolt 60 is arranged at intervals on same circle described in some groups；Some institutes
It is identical with the packet count of some first bolts 50 to state the packet count of the second bolt 60, and 60, the second bolt described in each group
In the correspondingly inner side of the first bolt 50 described in one group.It is equipped with the mounting flange 11, the spacer flanger and described first
Bolt 50 and the corresponding screwed hole of second bolt 60, the aperture of such screwed hole and arrangement mode repeat no more.
In the present embodiment, the mounting flange 11 passes through described in 21 50,6, first bolts with the spacer flanger
Second bolt 60 connects, so as to realize connecting firmly for the RV-E reductors 30 and the rocking bar 10.21 first bolts 50
3 groups are equally divided into, and the first bolt 50 described in three groups is equably arranged on same circle；6 second bolts 60 are also put down
3 groups are divided into, each group of the second bolt 60 is located at the inner side of corresponding one group of first bolt 50, and the second bolt 60 described in three groups
Equably row is on same circle.
Refer to shown in Fig. 5 ~ Fig. 8, the adapter flange 40 include ring flange 41, positioned at the side of ring flange 41 to
The first end 42 that is connected with the spacer flangers of the RV-E reductors 30, it is relative with the first end 42 to servo
Motor 20 be connected the second end 43, positioned at the center of ring flange 41 and along the adapter flange 40 axially through connection
Hole 44, on the ring flange 41 to be connected with RV-E reductors 30 some first fixing holes 45, positioned at the method
Some second fixing holes 46 on blue disk 41 to be connected with servomotor 20.
Specifically, some first fixing holes 45 are divided into some groups, and the first fixing hole 45 interval is set described in some groups
It is disposed adjacent on the same circle of the periphery of the ring flange 41, and some first fixing holes 45 are along the adapter flange 40
Axially through.The spacer flanger is mutually solid by the bolt being engaged with first fixing hole 45 with the adapter flange 40
It is fixed；After the spacer flanger is connected with the adapter flange 40, the nut of bolt is located at the adapter flange 40 away from institute
State the side of spacer flanger.
Further, first fixing hole 45 includes that the gross porosity 451 of the nut of the bolt can be housed, can housed
The pore 452 of the screw rod of the bolt.For the gross porosity 451 close to second end 43, the whole or the overwhelming majority of nut can
Be contained in gross porosity 451, namely the nut will not or the only a small number of part nut outstanding from second end 43 from
Second end 43 is outstanding, does not interfere with the servomotor 20 and connects with cooperation of the adapter flange 40 at the second end 43
Connect.
In the present embodiment, the diameter of some first fixing holes 45 and row set mode with some first bolts 50
Corresponding, the above-mentioned bolt being engaged with first fixing hole 45 is first bolt 50；Pass through first bolt 50
The spacer flanger is connected with the adapter flange 40；Namely first bolt 50 since second end 43 successively
It is simple in construction and fill through the adapter flange 40, mounting flange 11 and the spacer flanger three is connected firmly simultaneously together with
With convenient.And in other embodiment, the bolt can also be other bolts different from first bolt 50.
Further, the first end 42 has the avoid holes for being used for stepping down or house the nut of second bolt 60
421, the avoid holes 421 are between first fixing hole 45 and the connecting hole 44, if that is, described avoid holes 421 are located at
Do the inner side of first fixing hole 45.The avoid holes 421 are recessed but not from the first end 42 to second end 43
It is through to second end 43 so that second bolt 60 will not be through to second end 43, enter without being watched to described
Take fixation of the motor 20 at second end 43 and cause obstacle.
Further, the adapter flange 40 also have to position the mounting flange 11 and the adapter flange 40 and
The first cylindrical keeper 47；Along the axial direction of the adapter flange 40, one end of first keeper 47 is located at
The inside of the adapter flange 40 and second end 43 is not through to, the other end is from the first end 42 to away from described second
The direction at end 43 protrudes outward.
The adapter flange 40 also has an accommodating chamber 471 in first keeper 47, the accommodating chamber 471 with
The connecting hole 44 connects along the axial direction of the adapter flange 40, and the accommodating chamber 471 essentially forms the one of the connecting hole 44
Part；But for convenience, still it is referred to as accommodating chamber 471 below, and the connecting hole 44 is located at the accommodating chamber 471
It is referred to as connecting hole 44 towards the part of the side of the second end 43.
In addition, the adapter flange 40 also has between the outer wall of the first keeper 47 and the ring flange 41
Seal groove 472；The seal groove 472 is used to install ring-type sealing strip, with to the adapter flange 40 and the mounting flange 11
Junction sealed.
In the present embodiment, the diameter of the accommodating chamber 471 is more than the diameter of the connecting hole 44, the direction of connecting hole 44
The port of the first end 42 is located in the accommodating chamber 471, and the axis of the accommodating chamber 471 and the connecting hole 44
Axis overlaps.
In other embodiment, the diameter of the accommodating chamber 471 can also be equal to or less than the diameter of the connecting hole 44,
First keeper 47 can be understood as the inwall of the connecting hole 44 from the first end 42 to away from second end 43
Direction protrude outward to be formed.
After the RV-E reductors 30, the rocking bar 10 and the servomotor 20 link together, the RV-E slows down
The planetary gearsets pair meshing point of machine 30 is located in the accommodating chamber 471 or communicated with the accommodating chamber 471.Further, institute
State adapter flange 40 and also have and connect note/row's fat hole 48 of the outer circumferential side of ring flange 41 and the accommodating chamber 471, from the method
The seal 481 in note/row's fat hole 48 described in the blue periphery side seal of disk 41, it is described can be given from the outer circumferential side of adapter flange 40
Injection lubricating grease in accommodating chamber 471, realize the lubrication of planetary gearsets pair meshing point；It will be appreciated by those skilled in the art that
It is that the accommodating chamber 471 is can be to the lubricating cavity of planetary gearsets pair meshing point supplemental lubrication fat.
The note/being noted including through type in row's fat hole 48/arranges fat hole 482 and fat hole 483 is noted/arranged to bendable.The through type
Note/one end of row's fat hole 482 is located on the periphery of the ring flange 41, and the other end is located on the inwall of first keeper 47,
The radially extending along the ring flange 41 of fat hole 482 is noted/arranged to the through type.
The bendable notes/arranged that fat hole 483 is L-shaped, and one end is located on the periphery of the ring flange 41, and the other end is located at institute
Ring flange 41 is stated towards on the wall in the accommodating chamber 471；Fat hole 483 is noted/arranged to the bendable to be included along the ring flange 41
The straight hole radially extended and the axially extending bending hole along the ring flange 41.
In the present invention, the so-called axially extending axial direction referred to approximately along the ring flange 41 along the ring flange 41
Extension, is not strictly refered in particular to axially in parallel with the ring flange 41；Similarly, the so-called radial direction along the ring flange 41 is prolonged
Stretch and refer to radially extending approximately along the ring flange 41, not strictly refer in particular to radial parallel with the ring flange 41.
The through type is noted, and/arrange fat hole 482 and the bendable is noted/is arranged fat hole 483 and is arranged at intervals, so as to from difference
Position, on different directions to injection lubricating grease in the accommodating chamber 471.So-called " interval setting " refers to described straight
Formula is noted, and/arranging port, the bendable that fat hole 482 is located in the accommodating chamber 471 to note/arranges fat hole 483 and is located at the receiving
Port in chamber 471 is different radially positioned at the ring flange 41 respectively, and the through type is noted/arranged fat hole 482 and is located at institute
State the port on the periphery of ring flange 41, the port that fat hole 483 is located on the periphery of the ring flange 41 is noted/arranged to the bendable
It can be located in the same radial of the ring flange 41, can also be different radially positioned at the ring flange 41 respectively.This reality
Apply in example, the through type is noted/arranging fat hole 482, the bendable is noted/and arrange fat hole 483 and be located on the periphery of the ring flange 41
Port it is different radially positioned at the ring flange 41 respectively, and the angle of two radial alignments is 120 °.
The servomotor 20 is connected by screw with the adapter flange 40.Second fixing hole 46 is located at some institutes
State the inner side of the first fixing hole 45, i.e., described second fixing hole 46 be located at first fixing hole 45 and the connecting hole 44 it
Between, and second fixing hole 46 is recessed from second end 43 to the first end 42 but is not through to the first end
42.The screw rod of the screw passes through the screwed hole of the servomotor 20 and is threaded into second fixing hole 46, by institute
State servomotor 20 with the adapter flange 40 to be connected, screw does not protrude out to the first end 42 during being somebody's turn to do, so that will not
Influence the connection of the spacer flanger and the adapter flange 40.
After the servomotor 20 is connected by screw with the adapter flange 40, the output shaft of the servomotor 20 is worn
Cross the connecting hole 44 but can be with the planetary gearsets of the RV-E reductors 30 without pass through whole RV-E reductors 30
Connection.
Further, the adapter flange 40 also include from second end 43 to the first end 42 depression formed to
Position the second keeper 49 of the servomotor 20 and the adapter flange 40；Second keeper 49 is recessed for cylindrical shape
Groove, the groove connect with the connecting hole 44 along the axial direction of the adapter flange 40, and the groove essentially forms the connection
The part in hole 44；But for convenience, still it is referred to as groove below, and the connecting hole 44 is located at the groove court
It is referred to as connecting hole 44 to the part of the side of first end 42.
In the present embodiment, the diameter of the groove is more than the diameter of the connecting hole 44, and the connecting hole 44 is towards described
The end face at the second end 43 is located in the groove.
It is more than the diameter of the connecting hole 44 in the diameter of the accommodating chamber 471, and the diameter of the groove is more than described
In the embodiment of the diameter of connecting hole 44, the accommodating chamber 471, the connecting hole 44 are can be seen that along the sectional view in C-C directions
Connected with axial direction of the groove along the adapter flange 40 and form the passage of class " work " font.
The present invention also provides a kind of side of connecting firmly that the RV-E reductors 30 and the servomotor 20 link together
Method, comprise the following steps：
S1：It is in the side of the rocking bar 10, the spacer flanger of the RV-E reductors 30 and the mounting flange 11 is right
Together, namely two groups of bolts are accurately aimed at, and are smeared fluid sealant in both contact surfaces and sealed；From the another of the rocking bar 10
Side is screwed into some second bolts 60, and fastens some second bolts 60 with by the spacer flanger and the Method for Installation
Orchid 11 links together；
S2：In the first end 42 of the adapter flange 40, by the sealing ring indentation sealing groove 472 of annular, pass through
First keeper 47 positions the mounting flange 11 and the adapter flange 40, and causes the through type to note/arrange fat hole
Downwards, and the bendable is noted/arranged fat hole 483 and is located at the method for 482 port on the periphery of the ring flange 41
Port on the periphery of blue disk 41 is upward and inclined forward；Some first bolts 50 are screwed into from second end 43, and are fastened
Some first bolts 50 are so that the adapter flange 40, the mounting flange 11 and the spacer flanger to be linked together；
S3：Outside framework oil seal is pressed into the connecting hole 44 of the adapter flange 40, and the lip of outside framework oil seal ensures inwardly
Sealing；Gear shaft is assemblied on the output shaft, then the servomotor 20 is inserted into the connecting hole 44, and by gear shaft
Engaged accurately with the planetary gearsets of the RV-E reductors 30；Again the servomotor is pushed into from the second end 43 to first end 42
20, the servomotor 20 is alignd with the adapter flange 40 positioning by the second keeper 49, finally from servo electricity
Side of the machine 20 away from the adapter flange 40 is screwed into screw and is connected the servomotor 20 with the adapter flange 40, i.e., complete
Into the RV-E reductors 30 with the servomotor 20 connecting firmly on the rocking bar 10.
In summary, joint type industrial robot of the invention, can be in connection RV-E reductors by adapter flange 40
While 30, facilitate the installation of servomotor 20；The other accommodating chamber 471 can also be used as and be mended to planetary gearsets pair meshing point
The lubricating cavity of lubricating grease is filled, increases the storage volumes of lubricating grease, lubricant effect is improved, also allows for dissipating at high-speed gear meshing point
Heat.
The above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to preferred embodiment to this hair
It is bright to be described in detail, it will be understood by those within the art that, technical scheme can be modified
Or equivalent substitution, without departing from the spirit and scope of technical solution of the present invention.
It is any related " the present embodiment " in this specification, it is meant that the specific function of one relevant with embodiment, knot
Structure or characteristic description include at least one embodiment of the present invention.These appear in each local phrase of specification not necessarily
Refer to identical embodiment.Further, specific function, structure or the detailed description related to any embodiment, then it is assumed that be
The function related to other embodiment, structure or characteristic in the range of the art.
Claims (8)
1. a kind of joint type industrial robot, including the rocking bar with mounting flange, the servo positioned at the mounting flange side
Motor, the RV-E reductors positioned at the mounting flange away from the side of the servomotor, the RV-E reductors have energy
Enough spacer flangers being fixedly connected with the mounting flange, it is characterised in that：The joint type industrial robot also includes connection
The adapter flange of the spacer flanger and the RV-E reductors；The adapter flange includes ring flange, positioned at the ring flange
Side to be connected with the spacer flanger first end, it is relative with the first end to servomotor coordinate connect
The second end for connecing, positioned at the ring flange center and along the adapter flange axially through connecting hole, positioned at the ring flange
On to be connected with the spacer flanger some first fixing holes, on the ring flange to the servomotor
Some second fixing holes being connected；Second fixing hole is between first fixing hole and the connecting hole；It is described
Adapter flange also has to position the first keeper of the mounting flange and the adapter flange；First keeper
Side protrudes outward from the first end to away from the direction at second end, opposite side be located at the inside of the adapter flange and
Second end is not through to.
2. joint type industrial robot according to claim 1, it is characterised in that：The joint type industrial robot also wraps
Include to connect the adapter flange, the first bolt of the mounting flange and the spacer flanger, first fixing hole with
First bolt match and first fixing hole along the adapter flange axially through.
3. joint type industrial robot according to claim 2, it is characterised in that：The joint type industrial robot also wraps
Include to connect the second bolt of the mounting flange and the spacer flanger, the mounting flange connects firmly with the spacer flanger
Afterwards, the pitch circle diameter of second bolt is less than the pitch circle diameter of the first bolt.
4. joint type industrial robot according to claim 3, it is characterised in that：The mounting flange and the intermediate method
After orchid connects firmly, the nut of second bolt is located at the side that the mounting flange deviates from the spacer flanger, the first end
Avoid holes with the nut for stepping down or housing second bolt, the avoid holes are from the first end to described second
Concave end but it is not through to second end.
5. joint type industrial robot according to claim 1, it is characterised in that：Second fixing hole is from described second
Hold to first concave end but be not through to the first end.
6. joint type industrial robot according to claim 1, it is characterised in that：The adapter flange, which also has, is located at institute
State accommodating chamber in the first keeper, note/row's fat hole of the connection ring flange outer circumferential side and the accommodating chamber, from the flange
The seal in note described in the side seal of disk periphery/row's fat hole.
7. joint type industrial robot according to claim 6, it is characterised in that：The note/row's fat hole is set including interval
The through type put is noted, and/arrange fat hole and bendable is noted/arranges fat hole.
8. the joint type industrial robot according to any one in claim 1 ~ 5, it is characterised in that：The adapter flange
Also include being recessed from second end to the first end forming to position the of the servomotor and the adapter flange
Two keepers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153205.2A CN105619402B (en) | 2016-03-17 | 2016-03-17 | Joint type industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153205.2A CN105619402B (en) | 2016-03-17 | 2016-03-17 | Joint type industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105619402A CN105619402A (en) | 2016-06-01 |
| CN105619402B true CN105619402B (en) | 2017-12-12 |
Family
ID=56034940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610153205.2A Active CN105619402B (en) | 2016-03-17 | 2016-03-17 | Joint type industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105619402B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555888B (en) * | 2018-06-22 | 2024-01-30 | 珠海格力智能装备有限公司 | Robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE8310054U1 (en) * | 1983-04-06 | 1986-02-27 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Robotic joint |
| JP3401776B2 (en) * | 1995-11-29 | 2003-04-28 | 株式会社安川電機 | Industrial robot |
| CN203471770U (en) * | 2013-08-30 | 2014-03-12 | 广州机械科学研究院有限公司 | Robot rotating seat part |
| CN104708618A (en) * | 2015-03-16 | 2015-06-17 | 广东顺德三合工业自动化设备有限公司 | Robot |
| CN104942789B (en) * | 2015-06-12 | 2017-04-19 | 邓莉莉 | Four-shaft transfer robot |
| CN205043767U (en) * | 2015-08-20 | 2016-02-24 | 上海申日科技有限公司 | Multi -joint manipulator |
| CN205614676U (en) * | 2016-03-17 | 2016-10-05 | 昆山工研院工业机器人研究所有限公司 | Articulated industrial robot |
-
2016
- 2016-03-17 CN CN201610153205.2A patent/CN105619402B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105619402A (en) | 2016-06-01 |
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